Hex w/APM 2.6 running 3.2.1 - YAW seems uncontrollable

ArduCopter Copter 3.2
1

I am on the edge of getting this flying in stability mode. However, the copter starts to yaw immediately upon liftoff. Not just a little, but crazy yaw. I throttle down immediately.

I have gone through the setup via MP several times. I saw mention that might be a motor not spinning the correct direction. I verified they are all correct.

Another mention was a loose propeller. These are the self-tightening so I dont think that is it.

I even went through the process of ESC all-at-once calibration even though everything else I have read seems to indicate that the DJI E300 OPTO ESCs don’t require that.

I uploaded the log file here:
https://www.dropbox.com/s/t2x03nkbv1pf64n/2015-03-11%2019-09-38.bin?dl=0
I had set the bitmask to the next highest, hopefully that will have the necessary data if someone can take a look see.
Thanks in advance as always
Sandy

2

Logging set to low.

copter.ardupilot.com/wiki/config … og_bitmask

Need it set to NearlyAll so we can see what’s going on.

When done testing you will need to set it back.

Mike

3

Flying stable now.

The problem was with motor direction. All 6 were wrong.

With the self-tightening props I couldn’t just switch motor wires to change the rotation direction. And I am using the two white arms as a front-of-craft visual aid. So I moved all the motors over one and it is hovering well.

I originally built this craft using a CC3D. I guess I was used to the prop rotation scheme on that and didnt think about that when I changed out for the APM.

Thanks to the forum and those that responded. I appreciate the assistance.
Sandy